基于椭圆旋转的磁传感器误差补偿算法  

Magnetic Sensor Error Compensation Algorithm Based on Ellipse Rotation

作　　者：鲍宏平 朱小东 朱建良[2] 王伟[2] 张捷[2] 

机构地区：[1]玉柴桩工(常州)有限公司,江苏常州213167 [2]南京理工大学自动化学院,南京210094

出　　处：《计算机工程》2014年第4期301-304,共4页Computer Engineering

基　　金：国家自然科学基金资助项目(61104109);江苏省自然科学基金资助项目(BK2011703);江苏省科技支撑与自主创新基金资助项目(BE2012178)

摘　　要：针对硬磁干扰和软磁干扰条件下的磁罗盘误差补偿问题,对传统的误差椭圆假设模型进行改进,提出一种基于椭圆旋转的磁传感器误差补偿算法。分析磁罗盘误差产生的因素,并建立椭圆旋转数学模型。采用非线性最小二乘拟合算法推导出误差补偿参数公式。利用Honeywell双轴磁阻传感器的测量值和椭圆旋转拟合的算法,对两轴磁传感器进行测试标定与误差补偿。实验结果表明,椭圆旋转算法能够有效补偿外部磁场产生的硬磁干扰和软磁干扰,与传统的椭圆模型补偿算法相比,该算法测得的航向角最大误差从2.0°减小到0.4°。According to the magnetic compass error compensation problem under hard and soft magnetic interference, this paper proposes a magnetic sensor error compensation algorithm based on ellipse rotation. It analyzes the reason of generating magnetic compass error and builds the elliptic rotating model, uses nonlinear least-square fitting algorithm to derive the and verifies the error compensation algorithm using the measurements of Honeywell biaxial reluctance sensor. Experimental results show that, compared with the traditional elliptic error compensation model, the maximum course angle error reduces from 2.0~ to 0.4~ by using the proposed elliptic rotation error compensation model.

关 键 词：磁罗盘 椭圆旋转 航向角 非线性最小二乘法 软磁干扰 误差校正 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]